/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "Stateless.hpp"

using namespace rw::kinematics;

void Stateless::registerIn (State& state)
{
    registerIn (state.getStateStructure ());
    state.upgrade ();
}

void Stateless::registerIn (StateStructure::Ptr state)
{
    if (_registered)
        RW_THROW ("Stateless Object hass allready been initialized to another state!");
    // std::cout << "Registering all state datas.... "  << _datas.size() << std::endl;
    for (int i = 0; i < (int) _datas.size (); i++) {
        // std::cout << "Reg: " << _datas[i]->getName() << " " << _datas[i]->getID() << std::endl;
        state->addData (_datas[i]);
    }
    _stateStruct = state;
    _registered  = true;
}

void Stateless::unregister ()
{
    if (!_registered)
        return;
    for (size_t i = 0; i < _datas.size (); i++) {
        _stateStruct->remove (_datas[i].get ());
    }
    _registered  = false;
    _stateStruct = NULL;
}
